Publications by Jonathan Patrick Arreguit O'Neill

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Auke Ijspeert, Alessandro Crespi, Jonathan Patrick Arreguit O'Neill

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

Elsevier2025

Balancing central control and sensory feedback produces adaptable and robust locomotor patterns in a spiking, neuromechanical model of the salamander spinal cord

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Andrea Ferrario

This study introduces a novel neuromechanical model employing a detailed spiking neural network to explore the role of axial proprioceptive sensory feedback, namely stretch feedback, in salamander locomotion. Unlike previous studies that often oversimplifi ...

2025

Neuromechanical Simulations of Animats with Decentralised Control

Jonathan Patrick Arreguit O'Neill

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

EPFL2023

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Wei Wang, Emmanouil Angelidis

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

NeuroMechFly, a neuromechanical model of adult Drosophila melanogaster

Auke Ijspeert, Pavan P Ramdya, Jonathan Patrick Arreguit O'Neill, Shravan Tata Ramalingasetty, Victor Lobato Rios

Animal behavior emerges from an interaction between neural network dynamics, musculoskeletal properties and the physical environment. Accessing and understanding the interplay between these elements requires the development of integrative and morphological ...

NATURE PORTFOLIO2022

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Simon Lukas Hauser, Matthieu Guillaume Marie Dujany

A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...

IEEE2021

A Whole-Body Musculoskeletal Model of the Mouse

Auke Ijspeert, Grégoire Courtine, Jonathan Patrick Arreguit O'Neill, Claudia Kathe, Dimitri Bruno Marie Rodarie

Neural control of movement cannot be fully understood without careful consideration of interactions between the neural and biomechanical components. Recent advancements in mouse molecular genetics allow for the identification and manipulation of constituen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

A spiking central pattern generator for the control of a simulated lamprey robot running on SpiNNaker and Loihi neuromorphic boards

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Axel von Arnim, Emmanouil Angelidis

Central pattern generator (CPG) models have long been used to investigate both the neural mechanisms that underlie animal locomotion, as well as for robotic research. In this work we propose a spiking central pattern generator (SCPG) neural network and its ...

Iop Publishing Ltd2021

Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Mehmet Hasan Mutlu, Simon Lukas Hauser

Gait emergence and adaptation in animals is unmatched in robotic systems. Animals can create and recover locomotive functions "on-the-fly" after an injury whereas locomotion controllers for robots lack robustness to morphological changes. In this work, we ...

IEEE2020

Fast multi-contact whole-body motion planning with limb dynamics

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Salman Faraji

We present a new method for multi-contact motion planning which efficiently encodes internal dynamics of the robot without needing to use full models. Our approach is based on a five-mass model which is formulated by Cartesian points instead of joint angle ...

IEEE2018